@article{Iserles00an,
  title =	 {Lie-group methods},
  author =	 {Iserles, Arieh and Munthe-Kaas, Hans Z and
                  N{\o}rsett, Syvert P and Zanna, Antonella},
  journal =	 {Acta Numerica 2000},
  volume =	 {9},
  pages =	 {215--365},
  year =	 {2000},
  publisher =	 {Cambridge Univ Press}
}

@book{Murray94book,
  title =	 {A mathematical introduction to robotic manipulation},
  author =	 {Murray, Richard M and Li, Zexiang and Sastry, S
                  Shankar and Sastry, S Shankara},
  year =	 {1994},
  publisher =	 {CRC press}
}

@book{Spivak65book,
  title =	 {Calculus on manifolds},
  author =	 {Spivak, Michael},
  volume =	 {1},
  year =	 {1965},
  publisher =	 {WA Benjamin New York}
}